CN103763479B - The splicing apparatus and its method of real time high-speed high definition panorama video - Google Patents
The splicing apparatus and its method of real time high-speed high definition panorama video Download PDFInfo
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Abstract
The invention discloses the splicing apparatus and its method of a kind of real time high-speed high definition panorama video, wherein, the method comprising the steps of：S10, acquisition multichannel real-time video sequence to be spliced；S20, judge whether the video image of synchronization in any two-path video sequence meets image mosaic condition；S30, calculating image mosaic parameter；S40, selection perspective plane, and the video image in multichannel real-time video sequence is mapped on same perspective plane according to splicing parameter, it is then determined that panoramic projection face；The mapping table of the coordinate points of S50, the pixel set up on video image and panoramic projection face；The pixel value of all coordinate points on S60, exposure fusion treatment panoramic projection face, and full-view video image is exported according to pixel value.The present invention can greatly lift the splicing speed of image, it is ensured that the output quality of image, meet the requirement of real time high-speed high definition panorama video.
Description
Technical field
The present invention relates to technical field of image processing, more particularly to a kind of splicing apparatus of real time high-speed high definition panorama video
And its method.
Background technology
In today of monitoring system fast development, people can see more clearly for the appearance of high-definition camera, obtains more
Many details, but, people have also been proposed the requirement of another aspect, i.e., more things can be seen in same scene.It is former
Come way be by with several cameras cover a region, or with quick cruise back and forth scanning go solve.But in some fields
Close, these methods can't fully meet the requirement of user, than the movement if desired for the determination people in same picture, or need
Go to illustrate some problems with the things supervised in same scene, be accomplished by panoramic camera this when.In prior art
Panoramic camera hardware point 5 modules：Video acquisition SENSOR modules, Video processing ISP module, image mosaic module, volume
Code transport module and power module.Video acquisition SENSOR modules are used to gather multiple paths of video images, Video processing ISP module use
In preliminary treatment is carried out to image, for splicing to multiple paths of video images, coding transmission module is used for image mosaic module
Video image to splicing carries out coding output, and power module is powered for each part.
Image split-joint method of the prior art, as high-definition image data are more, the time processed needed for image mosaic is long,
Splicing is inefficient.For this purpose, someone devises a kind of image split-joint method, the such as applying date is：Disclosed on 06 07th, 2010
Number of patent application is：The Chinese patent of CN201010199450.X discloses a kind of patent name：Generate the side of panoramic picture
Method and device, wherein, the method for the generation panoramic picture includes：Acquisition is handled machine and shoots multiple images for obtaining, and will obtain
To image carry out cylindrical surface projecting；According to the pixel interdependence between any two neighboring projection images, described any two are determined
Overlapping range between individual neighboring projection images；According to the overlapping range between any two neighboring projection images to described
Any two neighboring projection images carry out seamless spliced, obtain panoramic picture.The method is entered by the image to handling machine shooting
Row cylindrical surface projecting, and it is determined that after overlapping range between any two neighboring projection images, carry out it is seamless spliced, so as to generate
Panoramic picture.The pixel of above-mentioned panoramic picture is low, it is impossible to meet the visual requirement of high definition；The splicing effect of neighboring projection images
It is bad, cause the image quality of whole panoramic picture poor.In view of this, it is necessary to which above-mentioned image split-joint method is entered to advance
The improvement of one step.
The content of the invention
The present invention proposes a kind of splicing apparatus and its method of real time high-speed high definition panorama video, and what is mainly solved is existing
The image mosaic time of the image split-joint method having in technology is long, splices the low problem of efficiency.
To solve above-mentioned technical problem, one aspect of the present invention is：There is provided a kind of real time high-speed high definition complete
The joining method of scape video, including step：
S10, acquisition multichannel real-time video sequence to be spliced；
S20, judge whether the video image of synchronization in any two-path video sequence meets image mosaic condition, if
It is no, then the acquisition angles of video sequence, and return to step S10 are adjusted, step S30 is if so, then entered；
S30, calculating image mosaic parameter；
S40, selection perspective plane, and the video image in multichannel real-time video sequence is mapped to according to splicing parameter same
On perspective plane, it is then determined that panoramic projection face；
The mapping table of the coordinate points of S50, the pixel set up on video image and panoramic projection face, makes the same of video image
The pixel of data line is distributed in the multirow coordinate points in panoramic projection face, and according to video image to panoramic projection face
Inverse transformation and mapping table, calculate the pixel value of all coordinate points in real time panoramic perspective plane；
The pixel value of all coordinate points on S60, exposure fusion treatment panoramic projection face, and aphorama is exported according to pixel value
Frequency image.
Wherein, step S20 specifically includes step：
Whether S21, the video image judged in each road video sequence are complete, if it is not, then adjusting the acquisition angle of video sequence
Degree, and return to step S10；If so, then execution step S22；
S22, video image in any two-path video sequence is judged with the presence or absence of default overlapping region, if it is not, then adjusting
The acquisition angles of whole video sequence, and return to step S10；If so, then enter step S30.
Wherein, the video image in multichannel real-time video sequence is mapped to together according to splicing parameter in step S40
After on one perspective plane, also include before determining panoramic projection face to being mapped in cutting image step on panoramic projection face, will be complete
Image cropping on scape perspective plane is into default shape.
Wherein, it is described default to be shaped as rectangle or square.
Wherein, the perspective plane is the face of cylinder or sphere.
Wherein, it is concrete the step of the pixel value of all coordinate points on the step S60 exposure fusion treatment panoramic projection face
To comprise the steps：
S61, judge pixel on the panoramic projection face whether overlapping region in video image, if so, then at exposure
Reason overlapping region, calculates the luminance mean value of video image overlapping region, obtains the pixel of output image, if it is not, then entering step
Rapid S62；
S62, judge whether the pixel value that Jing video images to the inverse transformation in panoramic projection face draws is integral point, if it is not,
The pixel of output image that pixel value be integer is calculated by interpolation algorithm then；If so, then directly using pixel value as defeated
Go out the pixel of image.
To solve above-mentioned technical problem, another technical solution used in the present invention is：A kind of real time high-speed high definition is provided
The splicing of panoramic video, including
Video acquisition module, for obtaining multichannel real-time video sequence to be spliced；
Image processing module, for judging whether the video image in any two-path video sequence meets image mosaic bar
Part, if it is not, then adjusting the acquisition angles of video sequence, if so, then calculates image mosaic parameter；
Image mosaic module, for true after the video image in multichannel real-time video sequence is mapped on same perspective plane
Determine the size in panoramic projection face；And collection video image forms mapping table with the data of a line and makes video figure by mapping table
The data line of picture is distributed in the multirow data in panoramic projection face, and according to the inverse transformation of video image to panoramic projection face
And mapping table, calculate the pixel value of all coordinate points in real time panoramic perspective plane；
Image co-registration module, for exposing the pixel value of all coordinate points on fusion treatment panoramic projection face；
Image output module, for exporting full-view video image.
Wherein, described image processing module includes：
First judging unit, for judging whether the video image in each road video sequence is complete, if it is not, then adjusting video
The acquisition angles of sequence；
Second judges computing unit, for judging the video image in any two-path video sequence with the presence or absence of default heavy
Folded region, if it is not, then adjusting the acquisition angles of video sequence and calculating focal length and spin matrix.
Wherein, described image concatenation module also includes image cropping unit, for by the image cropping on panoramic projection face
Into default shape.
Wherein, described image Fusion Module includes,
3rd judges computing unit, judges whether the pixel on panoramic projection face is in the overlapping region of video image,
If so, then exposure-processed overlapping region, calculates the luminance mean value of video image overlapping region, obtains the pixel of output image；
4th judges computing unit, for judging that Jing video images to the pixel value that the inverse transformation in panoramic projection face draws are
It is no for integral point, if it is not, the pixel of the output image that pixel value is integer is then calculated by interpolation algorithm；If so, it is then straight
Connect using pixel value as output image pixel.
The method have the benefit that：In being different from prior art, high-definition image data are complicated, process image mosaic
The required time is long, splices inefficient problem, the invention provides a kind of splicing side of real-time height high definition panorama video
Method, adopts
It is little, then gather video image mapping table is formed with the data of a line and be distributed the data line of video image by mapping table
In the multirow data in panoramic projection face, reality is calculated according to the inverse transformation of video image to panoramic projection face and mapping table then
When panoramic projection face in all coordinate points pixel value, the mapping table serve as panoramic projection face to video image caching effect,
In panoramic projection face is calculated during the pixel value of a line, it is not necessary to travel through all data of each road video image, it is only necessary to pass through
A few row data of mapping table cache, can reduce the problem that view data caches line number, for high-definition image data, energy
It is enough greatly to lift splicing speed.In addition, in order to preferably eliminate splicing gap, the present invention is processed by the way of fusion treatment
The overlap-add region of video image, can eliminate splicing seam, it is ensured that the image quality of output panoramic picture.
Present invention also offers a kind of splicing apparatus of real time high-speed high definition panorama video, using above-mentioned panoramic video
Joining method, can effectively lift splicing speed, increase the image quality of output panoramic picture, meet people to real time high-speed
The demand of high definition panorama video.
Description of the drawings
Fig. 1 is the flow chart of the joining method of real time high-speed high definition panorama video of the present invention；
Fig. 2 is to convert schematic diagram with data line in the present invention；
Fig. 3 is the schematic diagram of video image overlap in the present invention；
Fig. 4 is the schematic diagram of two video image fusions in the present invention；
Fig. 5 is the schematic diagram in the present invention in an embodiment；
Fig. 6 is the flow chart of one embodiment of the invention；
Fig. 7 is the flow chart of another embodiment of the present invention；
Fig. 8 is the block diagram of the splicing apparatus of real time high-speed high definition panorama video of the present invention.
Label declaration：
11- video acquisition modules, 12- image processing modules, 13- image mosaic modules, 14- image co-registration modules, 15- figures
As output module.
Specific embodiment
By describing technology contents of the invention, structural feature in detail, realizing purpose and effect, below in conjunction with embodiment
And coordinate accompanying drawing to be explained in detail.
Fig. 1 is referred to, a kind of joining method of real time high-speed high definition panorama video, including step is present embodiments provided：
S10, acquisition multichannel real-time video sequence to be spliced.Constituted using the camera lens using several fixed focal lengths, respectively
Between camera lens, angle is fixed, and gathers some region of real-time video sequence.
S20, judge whether the video image in any two-path video sequence meets image mosaic condition, if it is not, then adjusting
The acquisition angles of video sequence, and return to step S10；If so, then enter step S30.When the video image of collection is unsatisfactory for spelling
When connecing regulation, the angle that lens group gathers video sequence is readjusted.Judgement to splicing condition specifically includes step：S21, sentence
Whether the video image in the video sequence of Duan Ge roads is complete, if it is not, the acquisition angles of video sequence are then adjusted, and return to step
S10；If so, then execution step S22；S22, the video image judged in any two-path video sequence whether there is default overlap
Region, if it is not, the acquisition angles of video sequence are then adjusted, and return to step S10；If so, execution step S30.
S30, calculating splicing parameter, the splicing parameter is focal length and spin matrix.Judgement to video image integrity degree
And the judgement of adjacent video image overlapping region is the premise of guarantee output full-view video image quality.Each picture correspondence one
The spin matrix R of individual focal length f and one 3 × 3：
Video image in multichannel real-time video sequence is mapped to same throwing according to splicing parameter by S40, selection perspective plane
On shadow face, it is then determined that panoramic projection face, and then can determine the size of the monitoring range of panoramic video.
The mapping table of the coordinate points of S50, the pixel set up on video image and panoramic projection face, makes the same of video image
The pixel of data line is distributed in the multirow coordinate points in panoramic projection face, and according to video image to panoramic projection face
Inverse transformation and mapping table, calculate the pixel value of all coordinate points in real time panoramic perspective plane.As sequence of video images is entity
Two-dimensional projection of the scenery under different coordinates, directly carries out splicing and cannot meet visual consistency, institute to multi-channel video sequence
To need to project to image to be spliced under the same coordinate system respectively, image mosaic is then carried out again.The panoramic projection bread
Include：Plane panoramic projection face, cylindrical panoramic projection face and spherical panoramic projection face.In exposure fusion process, elder generation is needed
Multiway images are projected under the same coordinate system, the projection model being adapted to is chosen, panoramic picture is presented on a projection plane, energy
Show real scene effect.Plane projection marginal distortion when multi-channel video is spliced is more serious, cylindrical surface projecting and spherical projection
When level is spliced without significant difference, when there is the splicing of vertical direction, it is considered to using sphere panoramic projection face.Each picture
Cylinder or sphere are mapped to by cylinder or spherical formula, edge are now cut out, is determined the lap seams position of each picture.It is above-mentioned
Mapping table essential record be coordinate position, raw frames 2 mapping tables of correspondence that each does not splice, one preserves x and sits
Mark, a preservation y-coordinate.Refering to Fig. 2, above-mentioned same data, the every a line view data in the rectangular image of the left side is through post
It is an arc after the conversion of face, the two long lines for scheming the right are cut line, and the rectangular area that final 2 cut lines are formed is only panorama
A part for image.Every data line of panoramic picture comes from original image multirow data and calculates acquisition.Refering to Fig. 3, panorama
In data line be to calculate what is obtained by the left side "+number ", then for panoramic picture preservation corresponding mapping table when, I
Can be to calculate x of each row of data in correspondence sequence number original image, y-coordinate in panoramic picture.Install in equipment and fix
After good, this need to calculate once, and the mapping table can be directly invoked in splicing below.
The pixel value of all coordinate points on S60, exposure fusion treatment panoramic projection face, and aphorama is exported according to pixel value
Frequency image；Specifically include S61, sentence the step of the pixel value of all coordinate points on step S60 exposure fusion treatment panoramic projection face
Whether in video image pixel on disconnected panoramic projection face overlapping region, if so, then exposure-processed overlapping region, calculates
The luminance mean value of video image overlapping region, obtains the pixel of output image, if it is not, then execution step S62.Its object is to
Eliminate the splicing seam of overlapping region.Exposure fusion process can pass through to calculate the luminance mean value of adjacent image overlapping region and obtain
Luminance compensation parameter, after luminance compensation, can eliminate splicing seam using the fusion rule for gradually going out is fade-in.Refering to Fig. 3, it is determined that
After panoramic picture size and each seam coordinate, for A1, A2, A3, A4 region, the inversion of projective transformation above can be passed through
Change, calculate position of each pixel in original image in panoramic picture, then obtain the pixel value of the position；Refering to Fig. 4,
For overlapping region B1, B2, B3：Pixel_L and Pixel_R is calculated after using with Non-overlapping Domain identical algorithm,
Src_dst=K*Pixel_L+(1-k)*Pixel_R
Under normal circumstances 0<k<1, i.e., in overlapping region, along direction from image 1 to image 2, k fades to 0 by 1, so as to
Realize the smooth registration of overlapping region.
S62, judge whether the pixel value that Jing video images to the inverse transformation in panoramic projection face draws is integral point, if it is not,
The pixel of output image that pixel value be integer is calculated by interpolation algorithm then；If so, then directly using pixel value as defeated
Go out the pixel of image.It is intended that calculating the pixel value of pixel in the video image of Non-overlapping Domain, it is that output is complete
Scape video image prepares.During image co-registration, by each pixel in projection relation calculating painting canvas in original image
Position, for Non-overlapping Domain, can directly calculate acquisition, if the position for calculating is non-integer point, can be obtained using interpolation
The pixel of round numbers pixel value.Common interpolation algorithm has nearest neighbor algorithm, bilinear interpolation etc..Nearest neighbor algorithm：Interpolation picture
Element is generated by the color directly using immediate original pixel therewith, that is to say, that indiscriminately imitate the nearest pixel in side.
Refering to Fig. 5, bilinear interpolation algorithm：Non-integer point after p point bit mappings, Q11, Q12, Q21, Q22 are that p point surroundings are whole
It is several, calculated using such as lower-left formula：
In a specific embodiment, according to splicing parameter by regarding in multichannel real-time video sequence in step S40
After frequency image is mapped on same perspective plane, also include to being mapped in cutting on panoramic projection face before determining panoramic projection face
Image step, by the image cropping on panoramic projection face into default shape.It is in specific scheme, described default to be shaped as square
Shape or square or other shapes.
This programme is divided into into two embodiments with the angles of camera lens below, panoramic video joining method is said
It is bright.
Embodiment one
Refering to Fig. 6, step 1）Read in video sequence from many camera lens panoramic mosaic video cameras successively, camera lens level is put；
Step 2）Judge whether the video image in any two-path video sequence meets image mosaic condition, if it is not, then adjusting
The acquisition angles of whole video sequence, and return to step 1）；If so, then calculate image mosaic parameter.Described image splices condition bag
Include the overlapping region of image integrity degree and adjacent image；The image mosaic parameter includes focal length and spin matrix.
Step 3）Cylindrical surface projecting is converted, and is obtained the size in panoramic projection face and is set up video image between panoramic projection face
Mapping table；And by projecting inverse transformation, calculate the pixel value of each pixel on panorama painting canvas；The cylindrical coordinates conversion is public
Formula is as follows, wherein, original plane image coordinate：（xsrc,ysrc）, coordinate after cylindrical transform：（xc,yc）,
Step 4）The pixel value of all coordinate points on exposure fusion treatment panoramic projection face.For video image overlay region
Domain, can calculate 2 pixel values by inverse transformation, using methods such as exposure-processeds, eliminate the splicing vestige that seam crossing brings；It is right
In Non-overlapping Domain, by adopt interpolation algorithm to calculate pixel value for integer output image pixel.
Step 5）Output panorama sketch.
Embodiment two
Refering to Fig. 7, video sequence is read in from many camera lens panoramic mosaic video cameras successively, camera lens level, vertically put；
Step 1）Read in video sequence from many camera lens panoramic mosaic video cameras successively, camera lens level is put or vertical pendulum
Put；
Step 2）Judge whether the video image in any two-path video sequence meets image mosaic condition, if it is not, then adjusting
The acquisition angles of whole video sequence, and return to step 1）；If so, then calculate image mosaic parameter.Described image splices condition bag
Include the overlapping region of image integrity degree and adjacent image；The image mosaic parameter includes focal length and spin matrix.
Step 3）Spherical projective transformation, obtains the size in panoramic projection face and sets up video image between panoramic projection face
Mapping table；And by projecting inverse transformation, calculate the pixel value of each pixel on panorama painting canvas；The spherical coordinate change
Formula is as follows, wherein, wherein, original plane image coordinate：（xsrc,ysrc）, coordinate after spherical transform：（xs,ys）：
Step 4）The pixel value of all coordinate points on exposure fusion treatment panoramic projection face.For video image overlay region
Domain, can calculate 2 pixel values by inverse transformation, using methods such as exposure-processeds, eliminate the splicing vestige that seam crossing brings；It is right
In Non-overlapping Domain, by adopt interpolation algorithm to calculate pixel value for integer output image pixel.
Step 5）Output panorama sketch.
Refering to Fig. 8, the present invention also provides a kind of splicing of real time high-speed high definition panorama video, including video acquisition module
11st, the image processing module 12 being connected with video acquisition module 11, the image mosaic module 13 being connected with image processing module 12,
The image co-registration module 14 being connected with image mosaic module 13 and the image output module 15 being connected with image co-registration module 14.
Video acquisition module 11, for obtaining multichannel real-time video sequence to be spliced.
Image processing module 12, is connected with video acquisition module 11, for judging the video in any two-path video sequence
Whether image meets image mosaic condition, if it is not, then adjusting the acquisition angles of video sequence, if so, then calculates image mosaic ginseng
Number.In specific embodiment, described image processing module 12 includes：First judging unit, for judging in each road video sequence
Video image it is whether complete, if it is not, then adjusting the acquisition angles of video sequence；Second judges that computing unit and first judges single
Unit's connection, for judging the video image in any two-path video sequence with the presence or absence of default overlapping region, if it is not, then adjusting
The acquisition angles of video sequence simultaneously calculate focal length and spin matrix.
Image mosaic module 13, is connected with image processing module 12, for by the video figure in multichannel real-time video sequence
The size in panoramic projection face is determined after as mapping on same perspective plane；And collection video image is formed with the data of a line and is reflected
Firing table simultaneously makes the data line of video image be distributed in the multirow data in panoramic projection face, and according to video by mapping table
Inverse transformation and the mapping table of image to panoramic projection face, calculates the pixel value of all coordinate points in real time panoramic perspective plane.
Image co-registration module 14, is connected with image mosaic module 13, own on fusion treatment panoramic projection face for being exposed
The pixel value of coordinate points.Specifically, described image Fusion Module 14 includes that the 3rd judges computing unit, judges panoramic projection face
On pixel whether in video image overlapping region, if so, then exposure-processed overlapping region, calculates video image and overlaps
The luminance mean value in region, obtains the pixel of output image；4th judges computing unit, judges that computing unit is connected with the 3rd,
For judging whether the pixel value that Jing video images to the inverse transformation in panoramic projection face draws is integral point, if it is not, then by inserting
Value-based algorithm calculates the pixel of the output image that pixel value is integer；If so, then directly using pixel value as output image
Pixel.The image co-registration module 14 is used for the splicing seam for eliminating overlapping region, it is ensured that the quality of output panoramic picture.
Image output module 15, is connected with image co-registration module 14, for exporting full-view video image.By above-mentioned mould
Block, exports the big visual field, seamless full-view video image all the way.
In a specific scheme, described image concatenation module 13 also includes image cropping unit, for by panoramic projection
Image cropping on face is into default shape.For exporting pre-set image shape, the demand of display device and viewing is met.
Embodiments of the invention are the foregoing is only, the scope of the claims of the present invention is not thereby limited, it is every using this
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (8)
1. a kind of joining method of real time high-speed high definition panorama video, it is characterised in that including step：
S10, acquisition multichannel real-time video sequence to be spliced；
S20, judge whether the video image of synchronization in any two-path video sequence meets image mosaic condition, if it is not, then
The acquisition angles of adjustment video sequence, and return to step S10, if so, then enter step S30；
S30, calculating image mosaic parameter；
S40, selection perspective plane, and the video image in multichannel real-time video sequence is mapped to by same projection according to splicing parameter
On face, it is then determined that panoramic projection face；
The mapping table of the coordinate points of S50, the pixel set up on video image and panoramic projection face, makes same a line of video image
The pixel of data is distributed in the multirow coordinate points in panoramic projection face, and according to the inversion of video image to panoramic projection face
Change and mapping table, calculate the pixel value of all coordinate points in real time panoramic perspective plane；
The pixel value of all coordinate points on S60, exposure fusion treatment panoramic projection face, and panoramic video figure is exported according to pixel value
Picture；
Following step is specifically included the step of the pixel value of all coordinate points on the step S60 exposure fusion treatment panoramic projection face
Suddenly：
S61, judge pixel on the panoramic projection face whether overlapping region in video image, if so, then exposure-processed weight
Folded region, calculates the luminance mean value of video image overlapping region, obtains the pixel of output image, if it is not, then entering step
S62；
S62, judge whether the pixel value that Jing video images to the inverse transformation in panoramic projection face draws is integral point, if it is not, then leading to
Cross the pixel that interpolation algorithm calculates the output image that pixel value is integer；If so, then directly using pixel value as output figure
The pixel of picture.
2. the joining method of real time high-speed high definition panorama video according to claim 1, it is characterised in that the step
S20 specifically includes step：
Whether S21, the video image judged in each road video sequence are complete, if it is not, the acquisition angles of video sequence are then adjusted, and
Return to step S10；If so, then execution step S22；
S22, video image in any two-path video sequence is judged with the presence or absence of default overlapping region, if it is not, then adjustment is regarded
The acquisition angles of frequency sequence, and return to step S10；If so, then enter step S30.
3. the joining method of real time high-speed high definition panorama video according to claim 1, it is characterised in that the step
After in S40 mapped to the video image in multichannel real-time video sequence on same perspective plane, it is determined that entirely
Also include before scape perspective plane to being mapped in cutting image step on panoramic projection face, by the image cropping on panoramic projection face into
Default shape.
4. the joining method of real time high-speed high definition panorama video according to claim 3, it is characterised in that described default
It is shaped as rectangle or square.
5. the joining method of real time high-speed high definition panorama video according to claim 3, it is characterised in that the perspective plane
For the face of cylinder or sphere.
6. a kind of splicing apparatus of real time high-speed high definition panorama video, it is characterised in that including video acquisition module, for obtaining
Multichannel real-time video sequence to be spliced；
Image processing module, is connected with image/video acquisition module, for judging the video image in any two-path video sequence
Whether meet image mosaic condition, if it is not, then adjusting the acquisition angles of video sequence, if so, then calculate image mosaic parameter；
Image mosaic module, is connected with image processing module, for the video image in multichannel real-time video sequence is mapped to
The size in panoramic projection face is determined after on same perspective plane；And collection video image forms mapping table with the data of a line and leads to
Crossing mapping table makes the data line of video image be distributed in the multirow data in panoramic projection face, and according to video image to complete
The inverse transformation on scape perspective plane and mapping table, calculate the pixel value of all pixels point in real time panoramic perspective plane；
Image co-registration module, is connected with image mosaic module, for exposing all pixels point on fusion treatment panoramic projection face
Pixel value；
Image output module, and image co-registration module, for exporting full-view video image；
Described image Fusion Module includes,
3rd judges computing unit, judges whether the pixel on panoramic projection face is in the overlapping region of video image, if so,
Then exposure-processed overlapping region, calculates the luminance mean value of video image overlapping region, obtains the pixel of output image；
4th judges computing unit, judges that computing unit is connected with the 3rd, for judging Jing video images to panoramic projection face
Whether the pixel value that inverse transformation draws is integral point, if it is not, then calculating the output figure that pixel value is integer by interpolation algorithm
The pixel of picture；If so, then directly using pixel value as output image pixel.
7. the splicing apparatus of real time high-speed high definition panorama video according to claim 6, it is characterised in that at described image
Reason module includes：
First judging unit, for judging whether the video image in each road video sequence is complete, if it is not, then adjusting video sequence
Acquisition angles；
Second judges computing unit, is connected with the first judging unit, for judging the video image in any two-path video sequence
With the presence or absence of default overlapping region, if it is not, then adjusting the acquisition angles of video sequence and calculating focal length and spin matrix.
8. the splicing apparatus of real time high-speed high definition panorama video according to claim 6, it is characterised in that described image is spelled
Connection module also include image cropping unit, for by the image cropping on panoramic projection face into default shape.
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